多轴电动轮汽车双目标操纵稳定性优化分析  

The Optimization Research of Double-Target Stability Performance of Multi-Axle Electric-Wheel Vehicles

作　　者：张平霞[1,2] 高利[1] 朱永强[2] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]青岛理工大学黄岛校区汽车与交通学院,山东青岛266520

出　　处：《机械设计与制造》2014年第10期5-7,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51005128)

摘　　要：根据电动轮式多轴汽车驱动力矩独立可控的特点,采用ADAMS/View建立五轴全轮驱动汽车的30自由度动力学模型,选择横摆角速度和质心侧偏角作为控制变量,基于PID控制算法,采用Matlab/Simulink建立整车双目标优化控制策略,控制内、外侧车轮的驱动力矩,实现整车操纵稳定性的最优。联合仿真结果表明,在进行角阶跃输入响应时,采用横摆角速度和质心侧偏角的联合控制策略,可在横摆角速度稳态值仅降低3%的情况下,使质心侧偏角稳态值降低14%,使汽车具有良好的轨迹跟踪性。According to the characteristic that the driving torque of electric-wheel multi-axle vehicles can be controlled independently, a 30 degree of freedom five-axle all-wheel driving vehicle model was built in ADAMS/View software. The sideslip angle and yaw rate were chosen to be the main control variables, and the whole vehicle double-target optimization control strategy was developed based on PID control algorithm with Matlab/Sirnulink software. The whole vehicle handling and stability can be improved by controlling the inner and outer wheel driving torque. The co-simulation results show that, during the angle step input response, the use of yaw rate and sideslip angle combining control strategy can reduce sideslip angle steady-state value 14%, but only reduce the yaw rate steady-state value 3%. This makes the vehicle have good trajectory tracking pet.formartce.

关 键 词：角阶跃输入响应 全轮驱动 直接横摆力矩控制 侧偏角控制 

分 类 号：TH16[机械工程—机械制造及自动化] U463.23[机械工程—车辆工程]